We benchmark IPPO and a number of ablations on a number of SMAC maps (see Figure REF ).
Despite its simplicity, we find that IPPO significantly outperforms two
strong MARLbaselines that exploit centralized state during learning, namely MAPPO (see Table REF  and QMIX
on three difficult maps, namely 3s5z vs 3s6z, corridor and 6h vs 8z. On corridor, IPPO even exceeds the particularly strong performance of MAVEN [1]}. In addition, IPPO outperforms QMIX on easy SMAC maps 2m vs 1z and 3m and is competitive on a few more (see Appendix REF ).
IPPO is also able to learn maps renowned for their difficulty, such as 3s5z vs 3s6z and 6h vs 8z.
We also find that IPPO performance is superior to that of IQL, the other independent learning algorithm tested [2]}, and it is also generally more stable, across a large variety of maps.
Further results may be found in Appendix ).
